Révision 161
Ajouté par gamatteozz il y a plus de 6 ans
| branch/matteozzi/Emb_App/programme_principal_etud.c | ||
|---|---|---|
|
CanFrame comm;
|
||
|
CanFrame requete, reponse;
|
||
|
unsigned short vitesse;
|
||
|
unsigned short distance;
|
||
|
|
||
|
void asservissement(consigne){
|
||
|
requete.data.id='R';
|
||
| ... | ... | |
|
snd_dtq(CanTx, comm.msg);
|
||
|
}
|
||
|
|
||
|
/*void virage(){
|
||
|
requete.data.id='U';
|
||
|
requete.data.rtr=1;
|
||
|
snd_dtq(CanTx, requete.msg);
|
||
|
rcv_dtq(CanRx, &reponse.msg);
|
||
|
retour=reponse.data.val; */
|
||
|
|
||
|
/*void distance(){
|
||
|
requete.data.id='U';
|
||
|
requete.data.rtr=1;
|
||
|
snd_dtq(CanTx, requete.msg);
|
||
|
rcv_dtq(CanRx, &reponse.msg);
|
||
|
distance=reponse.data.val;
|
||
|
}*/
|
||
|
|
||
|
void main()
|
||
|
{
|
||
| ... | ... | |
|
LED_J=0;
|
||
|
dly_tsk(100);
|
||
|
asservissement(450);
|
||
|
commande(20);
|
||
|
commande(20);
|
||
|
|
||
|
}
|
||
|
}
|
||
|
|
||
Formats disponibles : Unified diff
asservissement fait
TODO: fonction de tri des requetes (TP3)